CN113614017A

CN113614017A - Crane collision prevention system, method, program, and manufacturing method

Info

Publication number: CN113614017A
Application number: CN202080024271.4A
Authority: CN
Inventors: V·曼纳里; T·帕西基维
Original assignee: Terex MHPS GmbH
Current assignee: Demag Cranes and Components GmbH
Priority date: 2019-03-27
Filing date: 2020-03-24
Publication date: 2021-11-05
Anticipated expiration: 2040-03-24
Also published as: EP3947241A1; CN113614017B; FI20195241A1; WO2020193858A1; EP3947241A4; US20220119229A1

Abstract

A crane (100) collision avoidance system (110), comprising: a scanning device (112) mounted in the crane, comprising a laser scanner (113) arranged to measure an optical distance from the crane (100) to a target (130) in a first direction of travel; and a detection device (140) arranged to automatically detect the target (130) by means of the scanning device (112). The detection device (140) is arranged for: defining, by the scanning device (112), a three-dimensional reference region (510) of a cargo-handling area (120), the reference region being comprised of a surface (530) of the cargo-handling area and having a vertical tolerance; and detecting a target (130) in the cargo handling area (120) based on the height defined by the scanning device (112) being different from the reference area (510). A control system, a collision prevention method, a collision prevention program and a method of manufacturing a collision prevention system are also described.

Description

Crane collision prevention system, method, program, and manufacturing method

Technical Field

The present invention relates to a crane collision avoidance system, a control system, a collision avoidance method, a collision avoidance program, and a method of manufacturing a collision avoidance system.

Background

This section will provide the reader with useful background information and is not intended to constitute an admission that the technology described herein is prior art.

Container cranes are used, for example, to move containers, such as 20 foot and 40 foot sea containers, at ports. Containers are usually handled in large numbers and, therefore, the container terminal requires a large amount of space in view of the size of the containers. In order to ensure the safety of automatic container handling, the container yard is enclosed and provided with access controls so that no personal injury can occur even in a fault situation. Attempts have also been made to avoid material damage, both to avoid damaging the material being handled and to slow the handling of the container.

For automatic crane collision avoidance, various measuring devices (such as ultrasonic and laser sensors) are used, with which the distance of the moving crane from the obstacle in the direction of movement is monitored. Measuring the distance by ultrasound is itself simple and very reliable, but has poor discrimination ability: from the ultrasonic measurements it is not necessarily clear that an obstacle located in front of the crane will remain in its path or outside its path. Using laser sensor based measurements in turn necessitates either accepting a single point or line, or constantly moving the sensor, thereby impairing the durability of the measurement scheme in environments subject to severe bumps and all weather conditions. Moving parts also wear naturally and require maintenance, such as lubrication, replacement of worn surfaces and cleaning to maintain operation.

In addition to crane collision avoidance, it is also necessary to detect personnel in the hazardous area of the crane, and preferably also larger animals. By means of a reliable monitoring of the hazardous area in connection with the crane, the need for an access control arrangement enclosing and/or covering the working area of the crane will be avoided or reduced.

It is an object of the present invention to obviate or mitigate the above-mentioned disadvantages of the prior art, or to provide a new alternative or improvement to the prior art.

Disclosure of Invention

According to a first aspect of the present invention, there is provided a crane collision avoidance system comprising:

a scanning apparatus installed in a crane, the scanning apparatus comprising: a laser scanner arranged to measure an optical distance from the crane to the target in a first direction of travel;

a detection device arranged to automatically detect the target by the scanning device,

the method is characterized in that: the detection device is arranged for:

defining, by the scanning device, a three-dimensional reference region of the cargo-handling area, the reference region consisting of a surface of the cargo-handling area and having a vertical tolerance; and

detecting a target in the cargo-handling area based on the height defined by the scanning device being different from the reference area.

The laser scanner may be a 3D laser scanner. The 3D laser scanner may be a multi-layer laser scanner. The 3D laser scanner may be a LiDAR (light detection and ranging) scanner.

The collision avoidance system may be adjustable. The adjustment may include changing a mounting position of the laser scanner in a height direction. The adjusting may include changing a vertical mounting position of the laser scanner in a lateral direction.

The surface of the cargo-handling area may be approximately planar.

The tolerance may be defined such that at least N% of the measurements of the laser scanner from the surface of the cargo handling area remain within the limits of the tolerance when the crane moves the maximum allowed mass specified for the crane at the maximum possible acceleration or deceleration of the crane. N may be 50. N may be 90. N may be 95. N may be 99. N may be 99.9.

The scanning device may be arranged to scan in a downward diagonal direction. Most measurements of the scanning device may be directed in a downward diagonal direction. The scanning device may be arranged to scan in a downward diagonal direction such that when the scanning device is mounted in a crane operating in the goods handling area, the scanning device receives distance measurement information from the goods handling area or from objects in the goods handling area over its entire measurement area. The scanning device may be arranged to scan in a downward diagonal direction such that when the scanning device is mounted in a crane mounted in the goods handling area, the scanning device receives distance measurement information from the goods handling area or from objects in the goods handling area over its entire measurement area. The scanning device may be arranged to scan in a downward diagonal direction at a minimum angle which does not differ more than 0 or 5 or 10 or 20 degrees from horizontal. The scanning device may be arranged to scan in a downward diagonal direction at a maximum angle which differs from horizontal by no more than 5 or 10 or 20 or 30 or 45 or 60 or 69 degrees.

The detection device may be arranged to initiate the hazard avoidance procedure if the scanning device does not receive distance measurement information from inside the reference area from any part of the area measured by the scanning device.

The hazard avoidance procedure may include issuing an audio signal. The hazard avoidance procedure may include emitting an optical signal. The hazard avoidance procedure may include slowing the movement of the crane. The hazard avoidance procedure may include an emergency stop of the crane. The hazard avoidance procedure may include raising the load higher to reduce the probability of the load colliding with the target. The hazard avoidance procedure may include changing the orientation of the crane. The hazard avoidance procedure may include moving the load laterally relative to the crane. The hazard avoidance procedure may include sending a notification to another crane and/or to a terminal or a control system monitored by the terminal. The notification may include information about the location of the target, such as coordinates of the target.

The cargo handling area may be a storage area at least partially managed by a crane. The cargo handling area may be a container handling area for handling and storing ISO containers.

The detection apparatus may be arranged to identify a downward deviation from a reference region of the goods handling area, such as a pothole or a dip created in the goods handling area. The detection device may be arranged to identify one or more reference points or surfaces formed in the goods handling area. The one or more reference points or surfaces may include one or more portions that protrude or extend into the cargo handling area from the cargo handling area. The detection device may be arranged to facilitate navigation of the crane by means of the detected one or more reference points or surfaces.

The scanning device may comprise one or more laser scanners mounted at the front end according to each main direction of the crane. The main direction may be forward and backward. The scanning device may further comprise one or more laser scanners relative to the main direction, which are mounted to the side of the crane or to the side of the lifting element of the crane.

One or more or all of the scanning devices may be 3D laser scanners. The beam of the 3D laser scanner may be conical. The opening angle of the beam of the 3D laser scanner may be at least 20, 30, 40, 50, 90 or 180 degrees.

One or more laser scanners may be mounted at a height of 5m or more, 6m or more, 8m or more, or 10m or more.

One or more laser scanners may be at a height of 6m or less, 9m or less, or 12m or less. The scanning device may be arranged to scan in the plane of the cargo handling area a braking distance further than the moving crane when the crane is fully loaded and at maximum speed.

The scanning device may be mounted at a height and with such a slightly downwardly directed angle that the scanning device can timely detect an immobile target in the path of the crane to avoid a collision. The scanning device may be mounted at such a low point that when the target is a reference cell or a collision test dummy, the target in the path of the crane can be detected by the scanning device regardless of the position of the target. The collision test dummy may be Hybrid III, THOR, or SID-II. The reference cells may be rectangular prisms. The minimum diameter of the reference cell may be less than 0.1m, the minimum diameter of the reference cell may be less than 0.15m, the minimum diameter of the reference cell may be less than 0.2m, the minimum diameter of the reference cell may be less than 0.25m, the minimum diameter of the reference cell may be less than 0.3m, the minimum diameter of the reference cell may be less than 0.4m, and the maximum diameter of the reference cell may be less than 2 m. The maximum diameter of the reference cell may be less than 1.5m and the maximum diameter of the reference cell may be less than 1 m.

The mounting position and accuracy of the 3D laser scanner may be selected such that the distance between measurement layers formed by parallel measurement points or segments is 10cm or less, 15cm or less, 20cm or less, 25cm or less, 30cm or less, 35cm or less, or 40cm or less.

The scanning device may be mounted such that when the target is a reference cell or a collision test dummy, the target in the path of the crane can be detected by the scanning device and moved at the maximum speed V, regardless of the position of the target. V may be 1 m/s. V may be 2 m/s. V may be 3 m/s. V may be 5 m/s. V may be 10 m/s. The collision avoidance system may be arranged to be able to stop the crane before the crane will collide with the target moving at the speed V.

The beams of the laser scanner may have one or more overlaps.

The beam of the laser scanner of the scanning device can cover the path in front of the crane at least with such a lateral opening angle that the scanning device also covers the path of the crane when the crane is rotating.

The beam of the laser scanner of the scanning device may cover parts of the path of the crane, wherein the moving part of the crane is below a height of M meters. M may be 1M. M may be 2M. M may be 3M. M may be 4M.

The beam of the laser scanner of the scanning device may cover a path in front of the load.

The detection device may be arranged to define the reference surface by a RANSAC (random sample consensus) method.

The detection apparatus may comprise a classifier arranged to distinguish targets detected in the goods handling area into different types based on their size and/or movement. The detection device may be arranged to perform a suitable hazard reduction procedure from a set of more than one different hazard reduction procedures based on the type of object. The detection device may be arranged to perform a suitable hazard reduction procedure such that the target is detected by one laser scanner. The detection device may be arranged to perform a suitable hazard reduction procedure such that if the target is located in a common area of two or more beams, detection of the target from the beams by even one laser scanner is sufficient to perform the hazard reduction procedure. Alternatively, execution of the hazard reduction procedure may be bypassed unless the target also occurs on another laser scanner that scans the common area. The mode of operation of the detection device relative to the targets in the common area may be variable. Such changes may be made by an operator.

According to a second aspect of the present invention, there is provided a crane control system comprising:

an automatic control device for controlling the crane; and

the collision avoidance system according to the first aspect of the invention.

The automatic control means may be arranged to be able to automatically control the crane to pick up or release a container.

According to a third aspect of the present invention, there is provided a crane collision prevention method, comprising the steps of:

measuring an optical distance from the crane to the target in the first direction of travel by a scanning device mounted in the crane and comprising a laser scanner;

the object is automatically detected by the detection device using the scanning device,

the method is characterized in that:

the detection device is used for:

defining, by the scanning device, a three-dimensional reference region of the cargo-handling area, the three-dimensional reference region consisting of a surface of the cargo-handling area and having a vertical tolerance; and

According to a fourth aspect of the invention, there is provided a crane collision avoidance program comprising computer program code arranged to perform the method according to the third aspect when executed on a computer.

According to a fifth aspect of the present invention there is provided a storage medium having stored thereon a computer program according to the fourth aspect.

According to a sixth aspect of the present invention, there is provided a manufacturing method for a crane collision avoidance system, comprising:

mounting a scanning device in the crane, the scanning device comprising a laser scanner arranged to measure an optical distance from the crane to the target in the first direction of travel;

providing the crane with a detection device arranged to automatically detect the object by means of a scanning device, characterized in that:

the detection device is arranged for:

Different embodiments of the invention will be described, or have been described, in connection with only some of its aspects. It will be appreciated by those skilled in the art that any embodiment of one aspect of the invention may be applied to the same or other aspects of the invention, alone or in combination with other embodiments.

Drawings

The invention will now be described by way of example with reference to the accompanying drawings.

Fig. 1 schematically illustrates a rear view of a container crane installed with a crane collision avoidance system according to one embodiment;

fig. 2 schematically shows a top view of the container crane of fig. 1;

figures 3 and 4 schematically illustrate front and side views of a beam of a laser scanner according to some embodiments;

fig. 5 schematically shows a side view of measurement points and reference zones of a crane collision avoidance system;

FIG. 6 shows a simplified block diagram of a detection device according to an embodiment of the present invention;

fig. 7 shows a simplified diagram of a collision avoidance method according to an embodiment of the invention; and

fig. 8 shows a simplified diagram of a manufacturing method according to an embodiment of the invention.

Detailed Description

In the following description, the same reference numerals are used to denote the same parts or steps. It must be noted that the figures given are not drawn to scale completely, they are only intended primarily for the purpose of illustrating embodiments of the invention.

Fig. 1 schematically illustrates a rear view of a container crane 100 in a cargo handling area 120, in which a crane collision avoidance system 110 according to one embodiment is installed. The collision avoidance system 110 includes a scanning device 112 that includes one or more laser scanners 113. The laser scanner 113 is, for example, a 3D laser scanner, such as a multilayer laser scanner. The laser scanner 113 is arranged to measure the optical distance from the crane 100 to the target 130 in the first direction of travel. The collision avoidance system 110 also includes a detection device 115. The detection device 115 is arranged to: defining, by the scanning device 112, a three-dimensional reference region 510 (see fig. 5) of the cargo-handling area, the reference region being comprised of the surface of the cargo-handling area 120 and having a vertical tolerance; and automatically detects the target 130 in the cargo-handling area 120 based on the height defined by the scanning device 112 being different from the reference area 510. The surface of the cargo-handling area may be approximately planar. Typically, the cargo-handling area is made relatively flat, but in some embodiments, in order to more accurately define the reference area, attempts are made to form a surface that corresponds to the shape of the actual cargo-handling area.

The crane further comprises a control system 140, such as an automatic crane control system, which is capable of, for example, loading and/or unloading containers to and/or from the cargo handling area and/or the container chassis of the vehicle. For simplicity, the control system 140 is drawn near the crane in the plane of the cargo handling area 120, although in practice the control system 140 may be implemented in a server room or computer cloud or, for example, in a cabinet located in the crane 100.

The beam of the 3D laser scanner is for example cone-shaped. The opening angle of the beam of the 3D laser scanner may be at least 20, 30, 40, 50, 90 or 180 degrees.

Fig. 2 schematically shows a top view of the container crane 100 of fig. 1. Fig. 2 shows the laser scanner mounted in the main direction of the crane. The crane 100 of fig. 2 is provided with two laser scanners 113 in each direction of travel, so that a laser scanner 113 is placed in conjunction with each wheel support post, which laser scanner is directed diagonally downwards.

One or more laser scanners are mounted at a height of, for example, greater than or equal to 5m, greater than or equal to 6m, greater than or equal to 8m, or greater than or equal to 10 m.

The one or more laser scanners are mounted to a height of, for example, less than or equal to 6m, less than or equal to 9m, or less than or equal to 12 m. In some embodiments, one or more laser scanners will move from one mounting location to another, or the mounting location will be freely selected from the structure of the crane. For example, the laser scanner may be moved lower or higher or to the side, for example to take into account the situation. For example, during fog or particularly rain, one or more laser scanners may be placed lower and/or closer together. As another example, one or more laser scanners may be placed higher, and possibly more diagonally downwards, in order to detect the lifting arm of a reach stacker that may or has reached the collision course. In one embodiment, the laser scanner is moved manually in the height direction from the ground surface, for example by means of an electrical or mechanical adjustment device. Thus, a desired height can be set easily and safely, for example for servicing the laser scanner.

Figures 3 and 4 schematically illustrate front and side views of a beam of the laser scanner 113 according to some embodiments. In these figures, the laser scanner 113 is attached to the frame of the crane 100 (discussed, for example, as a wheeled gantry crane (RTG), a rail gantry crane (RMG), or a straddle truck) over the wheels such that the beam of the laser scanner 113 measures the distance to the surface of the storage area 120 or the target 330 in the storage area 120, which is directly forward from the wheels and frame of the crane. In some embodiments, the light beam does not reach the wheels or even the frame of the crane, so that the scanning can be guided further along the path of the crane and information about the risk of collision can be obtained earlier. In this case, the object present directly in front of the crane may still not be detected. To prevent this, the crane may include a safety rail, bumper or other measuring device, such as a short-range ultrasonic measurement. In one embodiment, the laser scan is maintained continuously even when the crane is stopped. In one embodiment, the safe return to movement is ensured manually, for example using camera monitoring, after the crane is shut down.

As can be observed from fig. 3 and 4, the scanning device 112 may be arranged to scan in a downward diagonal direction, e.g. such that most or all measurements are directed in the downward diagonal direction. It is thus achieved that the scanning device 112 receives distance measurement information from the goods handling area 120 or from an object 140 in the goods handling area 120 over its entire measurement area when the scanning device 112 is mounted in a crane 100 operating in the goods handling area 120. Thus, constantly changing information can be obtained, whereby, when the crane 100 moves forward, based on the change of the surface of the goods handling area 120, a corresponding change to the front edge of the beam (beam) should first be established, and from there to the rest of the beam. In one embodiment, if the scanning device 112 does not form a measurement located within the reference zone 510 in the path of the crane 100 or in a defined safety margin of the path close to the crane 100, it is interpreted as a fault condition or collision crisis.

In one embodiment, the scanning device 112 is mounted high and at a slightly downward pointing angle so that the scanning device 112 can detect stationary targets 130 and targets moving at maximum speed V in the path of the crane 100 in time to avoid collisions. V is, for example, 1, 2, 3, 5 or 10 m/s. In one embodiment, the scanning device 112 is mounted low enough so that when the target 130 is a reference cell or a collision test dummy, the scanning device 112 is able to detect the target 130 in the path of the crane 100 regardless of the position of the target 130.

In one embodiment, the mounting position and accuracy of the 3D laser scanner are selected such that the distance between the layers of the 3D laser scanner is less than or equal to 10cm, less than or equal to 15cm, less than or equal to 20cm, less than or equal to 25cm, less than or equal to 30cm, less than or equal to 35cm, or less than or equal to 40 cm.

The beams of the laser scanner may have one or more overlapping regions. Due to the overlap, the assurance of detecting the collision risk may be increased. For example, if the target is detected by only one laser scanner, the detection device may perform a suitable hazard reduction procedure. Alternatively, if the target is located in a common area of two or more beams, a second laser scanner is required to detect the target. Therefore, false alarms may be reduced. In one embodiment, execution of the hazard reduction procedure may be bypassed unless the target also occurs on another scanner that scans the common area. The mode of operation of the detection device with respect to the targets in the common area may be variable. Such a change may be made by the operator, for example, according to a desired sensitivity level (full monitoring of the target or full monitoring of the target with increased sensitivity). The operator may set the desired sensitivity level, for example depending on the situation, for example taking into account one or more of the following: rain, fog, sandstorms, lighting, wild dogs, objects brought by wind, maintenance work, life of equipment, assumed conditions of equipment.

The beam of the laser scanner 113 of the scanning device 112 can cover the path in front of the crane 100 at least such a lateral opening angle that the scanning device 112 also covers the path of the crane 100 when the crane 100 is rotated.

The beam of the laser scanner 113 of the scanning device 112 may cover parts of the path of the crane, wherein the moving parts of the crane are below a height of M meters. M may be 1 meter. M may be 2 meters. M may be 3 meters. M may be 4 meters.

The beam of the laser scanner 113 of the scanning device 112 may cover the path in front of the load.

The detection apparatus may be arranged to identify a downward deviation from a reference region of the goods handling area, such as a pothole or a dip created in the goods handling area. The detection device may be arranged to identify one or more reference points or surfaces formed in the cargo handling area that are offset upwardly or downwardly from the surface of the cargo handling area. The one or more reference points or surfaces may include one or more portions that protrude or extend into the cargo handling area from the cargo handling area. The detection device may be arranged to facilitate navigation of the crane by means of the detected one or more reference points or surfaces.

For example, a recess may be formed into the cargo-handling area (e.g., in the direction of travel of the crane), which may be defined by the detection apparatus. For example, the groove is narrower than the wheel of the crane, so that the groove does not hinder the movement of the crane over the groove. The width of the groove may be, for example, 8cm, 10cm, 12cm or 15cm or less. The width of the groove may be 4cm, 6cm, 8cm, 10cm or 12cm or more. The depth of the groove may be 2cm, 4cm, 6cm or 8cm or less. The depth of the groove may be 1cm, 2cm, 4cm or 6cm or more. In one embodiment, alternatively or additionally, ridges or bands may be formed into the cargo-handling area (e.g., in the direction of travel of the crane) that may be defined by the detection apparatus. In one embodiment, alternatively or additionally, optically distinguishable markings, such as conceivably centerline markings, are formed into the cargo-handling area (e.g., in the direction of travel of the crane) that significantly alter the reflection of the scanning device. For example, even if the measured values themselves indicate the same distance from the laser scanner, the signal-to-noise ratio of the scanner device can be improved at the marking.

Fig. 5 schematically shows a side view of a measurement point 520 and a reference zone 510 and a reference plane 530 of the collision avoidance system 110 of the crane 100 of fig. 1. Fig. 5 shows a measurement of the cargo-handling area and defines a reference plane inclined at an angle alpha based on the measurement. A strong braking of the crane may tilt the crane slightly forward and create a measurement similar to fig. 5, where the reference plane appears as an uphill slope at an angle alpha.

The thickness d of the reference zone is also specified in fig. 5, for example, it is 0.1m or 0.2m or 0.3m or 0.4m or 0.5 m. In the embodiment of fig. 5, the reference area is defined as a uniform thickness. In another embodiment, the reference area opens like a wedge away from the crane to take into account measurement errors that increase as a function of distance.

The detection device 115 defines a reference region 510 such that, based on the measurement points 520 and the known geometry of the scanning device, a calculated surface of the cargo handling area (e.g., an average plane of the cargo handling area) is defined and a particular vertical tolerance is incorporated to the surface. Measurements that deviate only from the reference zone may be considered to indicate that the target 540 forms a collision risk. Thus, unnecessary stops of the crane 100 caused by slight measurement errors or even plastic bags flying into the cargo handling area 120 can be eliminated.

If the crane 100 is tilted, for example due to acceleration or braking, the distance to the goods handling area 120 defined by the scanning will change. The tolerance may be defined such that in the measurement of the surface of the laser scanner 113 from the cargo handling area 120, at least N% remains within the limits of the tolerance when the crane 100 moves the maximum allowed mass determined for the crane with the maximum possible acceleration or deceleration of the crane 100. N may be optimized to prevent unnecessary stops and to allow for a probability of sufficiently ensuring detection of the object 540 that is relevant in terms of collision avoidance.

In one embodiment, the detection device 115 is arranged to define the reference surface by a 530RANSAC (random sample consensus) method.

In one embodiment, the detection device 115 comprises (or is arranged to form) a classifier arranged to distinguish objects detected in the cargo handling area 120 into different types based on their size and/or movement. In the case of overlapping beams, the classifier may be arranged to perform more detailed three-dimensional recognition of the detected target with more than one laser scanner detection.

The detection device 115 may be arranged to perform a suitable hazard reduction procedure from among a set of more than one different hazard reduction procedures based on the type of object, such as e.g. issuing an audio or light signal, slowing down the movement or emergency stop of the crane 100, raising the load higher, changing the direction of the crane 100 or moving the load laterally with respect to the crane 100. In one embodiment, the hazard avoidance procedure includes sending a notification to another crane and/or the terminal or a control system monitored by the terminal. The notification may include information about the location of the target (e.g., coordinates of the target).

Fig. 6 shows a simplified block diagram of the detection device 115 according to an embodiment of the present invention. The detection device includes:

610. a processor or processing function (e.g., a computer cloud as a function);

620. a memory and computer program code 630 stored therein, which when executed on a processor or processing function is arranged to control the operation of the detection device 115;

640. an information transfer interface or function for receiving information from the scanning equipment 112 and for submitting information to the control system 140 of the crane 100;

650. a clock for measuring time;

660. a shape recognition device; and

670. a classifier arranged to distinguish targets detected in the cargo handling area 120 into different types based on the size of the targets 130 and/or the movement of the targets 130.

In fig. 6, the clock 650, the shape recognition device 660, and the classifier 670 are all drawn as separate blocks. Optionally, a processor or processing function 610 may implement any one or two or each of these functions.

The shape recognition means are able to detect the moving object 130 from several, possibly consecutive detections by means of shape recognition, even if the object 130 is moving and/or the crane 100 is moving. By means of the measured distance to the detected moving target 130 and the lateral position, the moving state of the target 130 can be defined. For example, a significantly continuous detection may be combined with the time of day measured by the clock. Based on the defined movement and the time elapsed in the meantime, the velocity and possible acceleration of the moving target 130 may be defined, including the direction of movement of the target 130. Thereafter, the detection device 115 may define a suitable hazard reduction procedure in relation to the moving object.

Fig. 7 shows a simplified diagram of a collision avoidance method according to an embodiment of the invention, comprising:

710. measuring an optical distance from the crane to the target in the first direction of travel by a scanning device mounted in the crane, the scanning device comprising a laser scanner;

720. the detection device automatically detects the target by using the scanning device;

730. the detection device defining a three-dimensional reference area of the cargo-handling area using the scanning device, the three-dimensional reference area being comprised of a surface of the cargo-handling area and having a vertical tolerance; and

740. detecting, by a detection device, an object in the goods handling area based on the height defined by the scanning device being different from the reference area.

FIG. 8 shows a simplified diagram of a manufacturing method according to an embodiment of the invention, comprising:

810. mounting a scanning device in the crane, the scanning device comprising a laser scanner arranged to measure an optical distance from the crane to the target in the first direction of travel;

820. providing the crane with a detection device arranged to automatically detect the target by means of a scanning device;

830. arranging the detection device to define, by the scanning device, a three-dimensional reference region of the goods handling area, the three-dimensional reference region being composed of surfaces of the goods handling area and having a vertical tolerance; and

840. the detection device is arranged to detect the object in the goods handling area based on the height defined by the scanning device being different from the reference area.

With the above-described embodiments, an obstacle-free portion of the cargo-handling area can be detected, and the surface of the area can be interpreted as being obstacle-free. Furthermore, the surface of the area forms a reference plane that can be detected.

The foregoing description provides non-limiting examples of some embodiments of the invention. It will be clear to a person skilled in the art that the invention is not limited to the details presented, but that it may be implemented in other equivalent ways.

Some of the features of the previously described embodiments of this invention could be used to advantage without the corresponding use of other features. As such, the foregoing description should be considered as merely illustrative of the principles of the present invention, and not in limitation thereof. The scope of the invention is therefore intended to be limited solely by the appended patent claims.

Claims

1. A crane (100) collision avoidance system (110), comprising:

a scanning apparatus (112) mounted in a crane, the scanning apparatus (112) comprising: a laser scanner (113) arranged to measure an optical distance from the crane (100) to a target (130) in a first direction of travel;

a detection device (140) arranged to automatically detect an object (130) by the scanning device (112);

the method is characterized in that:

the detection device (140) is arranged for:

defining, by the scanning device (112), a three-dimensional reference region (510) of a cargo-handling area (120), the reference region being comprised of a surface (530) of the cargo-handling area and having a vertical tolerance; and

detecting a target (130) in the cargo-handling area (120) based on a height defined by the scanning device (112) being different from the reference region (510).

2. The collision avoidance system (110) of claim 1, characterized in that the laser scanner (113) is a 3D laser scanner.

3. The collision avoidance system (110) of claim 1 or 2, characterized in that:

the vertical tolerance is defined such that at least N% of the measurements of the laser scanner (113) from the surface of the goods handling area (120) remain within the limits of the tolerance when the crane (100) moves the maximum allowed mass specified for the crane (100) with the maximum possible acceleration or deceleration of the crane (100); and is

N is 95.

4. The collision avoidance system (110) of any preceding claim, wherein:

the scanning device (112) is arranged to scan in a downward diagonal direction; and is

The detection device is arranged to initiate a hazard avoidance procedure if the scanning device does not receive distance measurement information from inside the reference area from any part of the area measured by the scanning device.

5. The collision avoidance system (110) of any preceding claim, characterized in that the detection apparatus (140) is arranged to identify a deviation downwards from the reference zone (510) of the cargo handling area (120).

6. The collision avoidance system (110) according to any one of the preceding claims, characterized in that the scanning device (112) comprises one or more laser scanners (113) mounted at the front end of the crane (100) according to each main direction.

7. The collision avoidance system (110) of any preceding claim, characterized in that the scanning device (112) is mounted at an elevation and with an angle pointing slightly downwards such that the elevation and angle enable the scanning device (112) to timely detect objects (130) in the path of the crane (100) to avoid collisions.

8. The collision avoidance system (110) of any preceding claim, characterized in that the scanning device (112) is mounted at a low such that the scanning device (112) is able to detect a target (130) in the path of the crane (100) regardless of the position of the target (130) when the target (130) is a reference cell or a collision test dummy.

9. The collision avoidance system (110) according to any of the preceding claims, characterized in that the light beam of the laser scanner (113) of the scanning device (112) covers the path in front of the crane (100) with at least such a lateral opening angle that the scanning device (112) also covers the path of the crane (100) with the width required by the crane (100) when the crane (100) is turned.

10. The collision avoidance system (110) of any preceding claim, characterized in that the detection device (115) is arranged to define the reference surface by randomly employing a consensus RANSAC method.

11. The collision avoidance system (110) of any preceding claim, characterized in that the detection device (115) comprises a classifier arranged to distinguish objects (130) detected in the cargo handling area (120) into different types based on their size and/or their movement (130).

12. A crane control system comprising:

an automatic control device for controlling the crane; and

the collision avoidance system (110) of any preceding claim.

13. A crane collision avoidance method comprising:

measuring (710) an optical distance from the crane to a target in a first direction of travel by a scanning device mounted in the crane and comprising a laser scanner;

automatically detecting (720) a target by a detection device using the scanning device,

the method is characterized in that:

the detection device is configured to:

defining (730), by the scanning device, a three-dimensional reference region of a cargo handling area, the three-dimensional reference region consisting of a surface of the cargo handling area and having a vertical tolerance; and

detecting (740) a target in the cargo-handling area based on the height defined by the scanning device being different from the reference area.

14. A crane collision avoidance program (630) comprising computer program code arranged to perform the method of claim 13 when run on a computer.

15. A method of manufacturing a crane collision avoidance system comprising:

mounting (810) a scanning device in a crane, the scanning device comprising a laser scanner arranged to measure an optical distance from the crane to a target in a first direction of travel;

providing (820) the crane with a detection device arranged to automatically detect an object by means of the scanning device,

the method is characterized in that:

the detection apparatus is arranged for:

defining (830), by the scanning device, a three-dimensional reference region of the cargo-handling area, the three-dimensional reference region consisting of a surface of the cargo-handling area and having a vertical tolerance; and

detecting (840) a target in the cargo-handling area based on the height defined by the scanning device being different from the reference area.